The adaptation law (REF )-() in its analysis form (REF ) coincides with the so-called composite adaptation law used for robot control (Eq. (8.125), [1]}). It has a smother and faster convergence behavior due to its first-order dynamics in (REF ). If, in addition, the following persistent excitation
\(\int ^{t+T}_{t}Y^{T}_{f}()Y_{f}() d\ge \lambda _{z}I_{9}, \quad \forall t\ge 0\) 
